/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/gws.cpp File Reference

Implements the abstract Grasp Wrench Space class and specific GWS classes. More...

#include <math.h>
#include <string.h>
#include "gws.h"
#include "grasp.h"
#include "mytools.h"
#include "body.h"
#include "debug.h"
#include "qhull_a.h"
#include "qhull_mutex.h"
#include <qmutex.h>

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Defines
#define	IVTOL   1e-5
Typedefs
typedef double *	doublePtr
Functions
void	minkowskiSum (Grasp *g, int c, int &wrenchNum, coordT *wrenchArray, Wrench prevSum, std::vector< int > useDimensions)
Variables
char	qh_version [] = "GraspIt 2.0b"
QMutex	qhull_mutex
	A global mutex used for synchronizing access to QHull, which is not thread-safe.

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Detailed Description

Implements the abstract Grasp Wrench Space class and specific GWS classes.

Definition in file gws.cpp.

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Define Documentation

#define IVTOL   1e-5

Definition at line 55 of file gws.cpp.

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Typedef Documentation

typedef double* doublePtr

Definition at line 61 of file gws.cpp.

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Function Documentation

void minkowskiSum	(	Grasp *	g,
		int	c,
		int &	wrenchNum,
		coordT *	wrenchArray,
		Wrench	prevSum,
		std::vector< int >	useDimensions
	)

This computes the minkowski sum of the wrenches from a set of contacts. The result is a m^n set of wrenches where m is the number of boundary wrenches on each contact and n is the number of contacts.

Definition at line 663 of file gws.cpp.

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Variable Documentation

char qh_version[] = "GraspIt 2.0b"

Definition at line 49 of file gws.cpp.

QMutex qhull_mutex

A global mutex used for synchronizing access to QHull, which is not thread-safe.

The global mutex used to synchronize access to QHull.

Definition at line 47 of file gws.cpp.